mlsanityData to 7 Oct 2026

ObjectNav Revisited: On Evaluation of Embodied Agents Navigating to Objects

arXiv 2006.13171 ↗First posted 23 Jun 2020cs.CV cs.ROcited by 240

Not on the map. Why?

Cited by 26 in Multimodal LLMs / vision-language models, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

We revisit the problem of Object-Goal Navigation (ObjectNav). In its simplest form, ObjectNav is defined as the task of navigating to an object, specified by its label, in an unexplored environment. In particular, the agent is initialized at a random location and pose in an environment and asked to find an instance of an object category, e.g., find a chair, by navigating to it. As the community begins to show increased interest in semantic goal specification for navigation tasks, a number of different often-inconsistent interpretations of this task are emerging. This document summarizes the consensus recommendations of this working group on ObjectNav. In particular, we make recommendations on subtle but important details of evaluation criteria (for measuring success when navigating towards a target object), the agent's embodiment parameters, and the characteristics of the environments within which the task is carried out. Finally, we provide a detailed description of the instantiation of these recommendations in challenges organized at the Embodied AI workshop at CVPR 2020 http://embodied-ai.org .

Key facts. Cited by 240 papers in the map (data through 7 Oct 2026). First posted on arXiv 23 Jun 2020.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 24; 2022: 50; 2023: 37; 2024: 44; 2025: 36; 2026: 49.

240 papers.

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  1. 2021Habitat-Matterport 3D Dataset (HM3D): 1000 Large-scale 3D Environments for Embodied AIcited by 579
  2. 2021Habitat 2.0: Training Home Assistants to Rearrange their Habitatcited by 501
  3. 2022MineDojo: Building Open-Ended Embodied Agents with Internet-Scale Knowledgecited by 469
  4. 2022ProcTHOR: Large-Scale Embodied AI Using Procedural Generationcited by 369
  5. 2023Holodeck: Language Guided Generation of 3D Embodied AI Environmentscited by 257
  6. 2021A Survey of Embodied AI: From Simulators to Research Taskscited by 256
  7. 2023Habitat 3.0: A Co-Habitat for Humans, Avatars and Robotscited by 220
  8. 2023Where are we in the search for an Artificial Visual Cortex for Embodied Intelligence?cited by 215
  9. 2023VLFM: Vision-Language Frontier Maps for Zero-Shot Semantic Navigationcited by 201
  10. 2022CoWs on Pasture: Baselines and Benchmarks for Language-Driven Zero-Shot Object Navigationcited by 194
  11. 2021Simple but Effective: CLIP Embeddings for Embodied AIcited by 191
  12. 2022ZSON: Zero-Shot Object-Goal Navigation using Multimodal Goal Embeddingscited by 177
38 more
  1. 2024Agent AI: Surveying the Horizons of Multimodal Interactioncited by 167
  2. 2023Habitat Synthetic Scenes Dataset (HSSD-200): An Analysis of 3D Scene Scale and Realism Tradeoffs for ObjectGoal Navigationcited by 162
  3. 2024InstructNav: Zero-shot System for Generic Instruction Navigation in Unexplored Environmentcited by 150
  4. 2022PONI: Potential Functions for ObjectGoal Navigation with Interaction-free Learningcited by 149
  5. 2022Bridging the Gap Between Learning in Discrete and Continuous Environments for Vision-and-Language Navigationcited by 127
  6. 2023ESC: Exploration with Soft Commonsense Constraints for Zero-shot Object Navigationcited by 126
  7. 2021Pathdreamer: A World Model for Indoor Navigationcited by 117
  8. 2022Habitat-Web: Learning Embodied Object-Search Strategies from Human Demonstrations at Scalecited by 116
  9. 2023Scaling Data Generation in Vision-and-Language Navigationcited by 115
  10. 2022Habitat-Matterport 3D Semantics Datasetcited by 109
  11. 2024SG-Nav: Online 3D Scene Graph Prompting for LLM-based Zero-shot Object Navigationcited by 106
  12. 2022Navigating to Objects in the Real Worldcited by 104
  13. 2023HomeRobot: Open-Vocabulary Mobile Manipulationcited by 104
  14. 2021Visual Room Rearrangementcited by 101
  15. 2024GOAT-Bench: A Benchmark for Multi-Modal Lifelong Navigationcited by 93
  16. 2023PIRLNav: Pretraining with Imitation and RL Finetuning for ObjectNavcited by 91
  17. 2022Offline Visual Representation Learning for Embodied Navigationcited by 74
  18. 2023Can an Embodied Agent Find Your "Cat-shaped Mug"? LLM-Guided Exploration for Zero-Shot Object Navigationcited by 74
  19. 2024Mobility VLA: Multimodal Instruction Navigation with Long-Context VLMs and Topological Graphscited by 72
  20. 2024HM3D-OVON: A Dataset and Benchmark for Open-Vocabulary Object Goal Navigationcited by 71
  21. 2023OVRL-V2: A simple state-of-art baseline for ImageNav and ObjectNavcited by 68
  22. 2022Zero Experience Required: Plug & Play Modular Transfer Learning for Semantic Visual Navigationcited by 66
  23. 2024OpenFMNav: Towards Open-Set Zero-Shot Object Navigation via Vision-Language Foundation Modelscited by 66
  24. 2021Memory-Augmented Reinforcement Learning for Image-Goal Navigationcited by 64
  25. 2021No RL, No Simulation: Learning to Navigate without Navigatingcited by 63
  26. 2022DialFRED: Dialogue-Enabled Agents for Embodied Instruction Followingcited by 63
  27. 2021Embodied BERT: A Transformer Model for Embodied, Language-guided Visual Task Completioncited by 57
  28. 2022Housekeep: Tidying Virtual Households using Commonsense Reasoningcited by 57
  29. 2022CLIP-Nav: Using CLIP for Zero-Shot Vision-and-Language Navigationcited by 55
  30. 2024PoliFormer: Scaling On-Policy RL with Transformers Results in Masterful Navigatorscited by 55
  31. 2025EmbodiedEval: Evaluate Multimodal LLMs as Embodied Agentscited by 55
  32. 2024GRUtopia: Dream General Robots in a City at Scalecited by 54
  33. 2022Instance-Specific Image Goal Navigation: Training Embodied Agents to Find Object Instancescited by 53
  34. 2023How To Not Train Your Dragon: Training-free Embodied Object Goal Navigation with Semantic Frontierscited by 53
  35. 2021RobustNav: Towards Benchmarking Robustness in Embodied Navigationcited by 52
  36. 2023Navigating to Objects Specified by Imagescited by 50
  37. 2021Learning to Map for Active Semantic Goal Navigationcited by 47
  38. 2023SPOC: Imitating Shortest Paths in Simulation Enables Effective Navigation and Manipulation in the Real Worldcited by 47

50 most cited of 240 All 240 (JSON)